基于横摆角速度预测的制动防抱死系统单轮修正控制策略

Single wheel correcting control strategy of ABS based on yaw rate prediction

针对制动防抱死系统(ABS)系统在对开路面的制动稳定性展开研究,基于Kalman滤波技术构建了横摆角速度预测器,并基于此实现了单轮修正控制策略,在充分保证ABS系统在对开路面下制动的方向稳定性的前提下,有效缩短了制动距离。利用硬件在环实验台,对控制策略进行了验证,结果表明设计的控制策略可以充分提高ABS的性能。

The braking stability of the anti-locked braking system（ABS） on the split road was studied. A yaw rate predictor was developed based on the Kalman filtering technique, and thereby the single wheel correcting control strategy was realized. The braking distance was shortened under the prerequisite of ensuring the braking direction stability of ABS on the split road. The proposed control strategy was tested in a hardware-in-the-loop test rig and the result showed that it can enhance the ABS performance significantly.